DCM.h

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/*
DCM header file
 
Author: Alex Reynolds
*/
#ifndef SIX_DOF_DYNAMICS_DCM_HPP
#define SIX_DOF_DYNAMICS_DCM_HPP
 
#include <cmath>
 
#include "core/Matrix.hpp"
#include "core/CartesianVector.hpp"
#include "core/safemath.h"
#include "core/clockwerkerrors.h"
 
namespace clockwerk {

    class Euler321;
 
    class Quaternion;
 
    class MRP;




    class DCM : public Matrix<3, 3> {
    public:
        DCM() : Matrix<3, 3>({{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}) {};

        DCM(const floating_point(&initial)[3][3]) : Matrix<3, 3>(initial) {}; 

        DCM(const DCM &initial) : Matrix<3, 3>(initial) {};

        DCM(const std::array<std::array<floating_point, 3>, 3> &initial) : Matrix<3, 3>(initial) {};

        ~DCM() {}

        int16 inverse(DCM &result) const;
        DCM inverse() const {DCM tmp; inverse(tmp); return tmp;}
        
        void rate(const CartesianVector<3> &omega_f1_f2__f1, Matrix<3, 3> &dcmdot_f1_f2);

        int16 toEuler321(Euler321 &euler_f1_f2) const;
        Euler321 toEuler321();

        int16 toQuaternion(Quaternion &q_f1_f2) const;
        Quaternion toQuaternion();

        int16 toMRP(MRP &mrp_f1_f2) const;
        MRP toMRP();
    };
 
}
 
#endif